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Comparing the Observable Response Times of ACC and CACC Sys..:

Brunner, Johannes S. ; Makridis, Michail A. ; Kouvelas, Anastasios
IEEE Transactions on Intelligent Transportation Systems.  23 (2022)  10 - p. 19299-19308 , 2022
Link: https://doi.org/10.1109/tits.2022.3165648